| 35 | |
| 36 | template <typename T> |
| 37 | sensor_msgs::PointCloud2 cloud2msg(pcl::PointCloud<T> cloud, std::string frame_id) { |
| 38 | sensor_msgs::PointCloud2 cloud_ROS; |
| 39 | pcl::toROSMsg(cloud, cloud_ROS); |
| 40 | cloud_ROS.header.frame_id = frame_id; |
| 41 | return cloud_ROS; |
| 42 | } |
| 43 | |
| 44 | int main(int argc, char **argv) { |
| 45 | ros::init(argc, argv, "Ros-Kitti-Publisher"); |